function RunLab(size, t)

    tts('Processing Order')


    if size == 2
        
        MoveToPosition(0, 120, 60, 50)
        Claw(0)
        kinect_code_1
%         p1 = edgeroo(img_1_colour);
        tts('large cup one')
        [x,y,z] = inv_kin(arm_large(1,1)-0.045,arm_large(1,2),arm_large(1,3)-0.01);
        MoveToPosition(-x,y,z,50)
        PickDropCup(2)
%         [x,y,z] = inv_kin(p1(1),1.1*p1(2)+0.04,p1(3)+0.14);
        MoveToPosition(-x, 120, 60, 50)
        MoveToPosition(-x+90,y,z,50)
        tts(t)
        PickDropCup(1)
        MoveToPosition(-x+90, 120, 60, 50)
        toc

    elseif size == 1
        
        MoveToPosition(0, 120, 60, 50)
        Claw(0)
        kinect_code_1
%         p1 = edgeroo(img_1_colour);
        tts('large cup one')
        [x,y,z] = inv_kin(arm_med(1,1)-0.035,arm_med(1,2),arm_med(1,3)+.04);
        MoveToPosition(-x,y,z,50)
        PickDropCup(2)
%         [x,y,z] = inv_kin(p1(1),1.1*p1(2)+0.04,p1(3)+0.14);
        MoveToPosition(-x, 120, 60, 50)
        MoveToPosition(-x+90,y,z,50)
        tts(t)
        PickDropCup(1)
        MoveToPosition(-x+90, 120, 60, 50)
        toc
        pause;
        
        
    else
        
        tts('in valid order')
        
    end
        
    % tts('medium cup one')
    % MoveToPosition(0,90,0,50)
    % Claw(0)
    % [x,y,z] = inv_kin(arm_med(1,1)-0.035,arm_med(1,2),arm_med(1,3)+.04);
    % MoveToPosition(-x,y,z,100)
    % PickDropCup(2)
    % MoveToPosition(-x+90,y,z,100);
    % PickDropCup(1)
    % MoveToPosition(0,90,0,100)
    % 
    % MoveToPosition(-90,90,0,50)
    tts('Order complete')
    % Claw(0)
    % 
    % tts('medium cup two')
    % [x,y,z] = inv_kin(arm_med(2,1)-0.035,arm_med(2,2),arm_med(2,3)+.04);
    % MoveToPosition(-x,y,z,100)
    % PickDropCup(2)
    % MoveToPosition(-2*x,y,z,100);
    % PickDropCup(1)
    % MoveToPosition(0,90,0,100)
    %tts('are you not impressed?')
end
